vl53l0x激光測距stm32庫函數(shù)程序源碼

ID:413306 · 發(fā)表于 2018-10-21 21:59

vl53l0x stm32程序

#include "vl53l0x_gen.h"
VL53L0X_RangingMeasurementData_t vl53l0x_data;//測距測量結(jié)構(gòu)體
vu16 Distance_data=0;//保存測距數(shù)據(jù)
//VL53L0X 測量模式配置
//dev:設(shè)備I2C參數(shù)結(jié)構(gòu)體
//mode: 0:默認(rèn);1:高精度;2:長距離;3:高速
VL53L0X_Error vl53l0x_set_mode(VL53L0X_Dev_t *dev,u8 mode)
{
VL53L0X_Error status = VL53L0X_ERROR_NONE;
uint8_t VhvSettings;
uint8_t PhaseCal;
uint32_t refSpadCount;
uint8_t isApertureSpads;
vl53l0x_reset(dev);//復(fù)位vl53l0x(頻繁切換工作模式容易導(dǎo)致采集距離數(shù)據(jù)不準(zhǔn)，需加上這一代碼)
status = VL53L0X_StaticInit(dev);
if(AjustOK!=0)//已校準(zhǔn)好了,寫入校準(zhǔn)值
{
status= VL53L0X_SetReferenceSpads(dev,Vl53l0x_data.refSpadCount,Vl53l0x_data.isApertureSpads);//設(shè)定Spads校準(zhǔn)值
if(status!=VL53L0X_ERROR_NONE) goto error;
delay_ms(2);
status= VL53L0X_SetRefCalibration(dev,Vl53l0x_data.VhvSettings,Vl53l0x_data.PhaseCal);//設(shè)定Ref校準(zhǔn)值
if(status!=VL53L0X_ERROR_NONE) goto error;
delay_ms(2);
status=VL53L0X_SetOffsetCalibrationDataMicroMeter(dev,Vl53l0x_data.OffsetMicroMeter);//設(shè)定偏移校準(zhǔn)值
if(status!=VL53L0X_ERROR_NONE) goto error;
delay_ms(2);
status=VL53L0X_SetXTalkCompensationRateMegaCps(dev,Vl53l0x_data.XTalkCompensationRateMegaCps);//設(shè)定串?dāng)_校準(zhǔn)值
if(status!=VL53L0X_ERROR_NONE) goto error;
delay_ms(2);
}
else
{
status = VL53L0X_PerformRefCalibration(dev, &VhvSettings, &PhaseCal);//Ref參考校準(zhǔn)
if(status!=VL53L0X_ERROR_NONE) goto error;
delay_ms(2);
status = VL53L0X_PerformRefSpadManagement(dev, &refSpadCount, &isApertureSpads);//執(zhí)行參考SPAD管理
if(status!=VL53L0X_ERROR_NONE) goto error;
delay_ms(2);
}
status = VL53L0X_SetDeviceMode(dev,VL53L0X_DEVICEMODE_SINGLE_RANGING);//使能單次測量模式
if(status!=VL53L0X_ERROR_NONE) goto error;
delay_ms(2);
status = VL53L0X_SetLimitCheckEnable(dev,VL53L0X_CHECKENABLE_SIGMA_FINAL_RANGE,1);//使能SIGMA范圍檢查
if(status!=VL53L0X_ERROR_NONE) goto error;
delay_ms(2);
status = VL53L0X_SetLimitCheckEnable(dev,VL53L0X_CHECKENABLE_SIGNAL_RATE_FINAL_RANGE,1);//使能信號速率范圍檢查
if(status!=VL53L0X_ERROR_NONE) goto error;
delay_ms(2);
status = VL53L0X_SetLimitCheckValue(dev,VL53L0X_CHECKENABLE_SIGMA_FINAL_RANGE,Mode_data[mode].sigmaLimit);//設(shè)定SIGMA范圍
if(status!=VL53L0X_ERROR_NONE) goto error;
delay_ms(2);
status = VL53L0X_SetLimitCheckValue(dev,VL53L0X_CHECKENABLE_SIGNAL_RATE_FINAL_RANGE,Mode_data[mode].signalLimit);//設(shè)定信號速率范圍范圍
if(status!=VL53L0X_ERROR_NONE) goto error;
delay_ms(2);
status = VL53L0X_SetMeasurementTimingBudgetMicroSeconds(dev,Mode_data[mode].timingBudget);//設(shè)定完整測距最長時(shí)間
if(status!=VL53L0X_ERROR_NONE) goto error;
delay_ms(2);
status = VL53L0X_SetVcselPulsePeriod(dev, VL53L0X_VCSEL_PERIOD_PRE_RANGE, Mode_data[mode].preRangeVcselPeriod);//設(shè)定VCSEL脈沖周期
if(status!=VL53L0X_ERROR_NONE) goto error;
delay_ms(2);
status = VL53L0X_SetVcselPulsePeriod(dev, VL53L0X_VCSEL_PERIOD_FINAL_RANGE, Mode_data[mode].finalRangeVcselPeriod);//設(shè)定VCSEL脈沖周期范圍
error://錯(cuò)誤信息
if(status!=VL53L0X_ERROR_NONE)
{
print_pal_error(status);
LCD_Fill(30,140+20,300,300,WHITE);
return status;
}
return status;
}
//VL53L0X 單次距離測量函數(shù)
//dev:設(shè)備I2C參數(shù)結(jié)構(gòu)體
//pdata:保存測量數(shù)據(jù)結(jié)構(gòu)體
VL53L0X_Error vl53l0x_start_single_test(VL53L0X_Dev_t *dev,VL53L0X_RangingMeasurementData_t *pdata,char *buf)
{
VL53L0X_Error status = VL53L0X_ERROR_NONE;
uint8_t RangeStatus;
status = VL53L0X_PerformSingleRangingMeasurement(dev, pdata);//執(zhí)行單次測距并獲取測距測量數(shù)據(jù)
if(status !=VL53L0X_ERROR_NONE) return status;
RangeStatus = pdata->RangeStatus;//獲取當(dāng)前測量狀態(tài)
memset(buf,0x00,VL53L0X_MAX_STRING_LENGTH);
VL53L0X_GetRangeStatusString(RangeStatus,buf);//根據(jù)測量狀態(tài)讀取狀態(tài)字符串
Distance_data = pdata->RangeMilliMeter;//保存最近一次測距測量數(shù)據(jù)
return status;
}
//啟動(dòng)普通測量
//dev：設(shè)備I2C參數(shù)結(jié)構(gòu)體
//mode模式配置 0:默認(rèn);1:高精度;2:長距離
void vl53l0x_general_start(VL53L0X_Dev_t *dev,u8 mode)
{
static char buf[VL53L0X_MAX_STRING_LENGTH];//測試模式字符串字符緩沖區(qū)
VL53L0X_Error Status=VL53L0X_ERROR_NONE;//工作狀態(tài)
u8 key=0;
u8 i=0;
LED0=1;
mode_string(mode,buf);//顯示當(dāng)前配置的模式
while(vl53l0x_set_mode(dev,mode))//配置精度模式
{
LCD_ShowString(30,140+40,200,16,16,"Mode Set Error!!!");
delay_ms(500);
LCD_ShowString(30,140+40,200,16,16," ");
delay_ms(500);
i++;
if(i==2) return;
}
LCD_Fill(30,140+20,300,300,WHITE);
LCD_ShowString(30,140+30,200,16,16,"KEY_UP: Exit the test ");
LCD_ShowString(30,140+50,200,16,16,"Mode: ");
LCD_ShowString(80,140+50,200,16,16,(u8*)buf);
LCD_ShowString(30,140+70,200,16,16,"State:");//顯示測量狀態(tài)
LCD_ShowString(30,140+90,200,16,16,"Distance: 0 mm");//顯示測量距離
while(1)
{
key = KEY_Scan(0);
if(key == WKUP_PRES)
{
LED1=1;
break;//返回上一菜單
}
if(Status==VL53L0X_ERROR_NONE)
{
Status = vl53l0x_start_single_test(dev,&vl53l0x_data,buf);//執(zhí)行一次測量
LCD_ShowString(85,140+70,200,16,16,(u8*)buf);
LCD_ShowxNum(110,140+90,Distance_data,4,16,0);
//printf("State;%i , %s\r\n",vl53l0x_data.RangeStatus,buf);//打印測量狀態(tài)
printf("d: %4imm\r\n",Distance_data);//打印測量距離
}
i++;
if(i==5)
{
i=0;
LED1=!LED1;
}
delay_ms(50);
}
}
//vl53l0x普通測量模式UI
void general_ui(void)
{
LCD_Fill(30,140+20,300,300,WHITE);
POINT_COLOR=RED; //設(shè)置字體為紅色
LCD_ShowString(30,140+30,300,16,16,"General Mode ");
LCD_ShowString(30,140+55,300,16,16,"KEY1: Switch working mode ");
POINT_COLOR=BLUE; //設(shè)置字體為藍(lán)色
LCD_ShowString(30,140+75,300,16,16, "KEY_UP: Return menu ");
LCD_ShowString(30,140+95,300,16,16, "KEY0: Default ");
}
//vl53l0x普通測量模式測試
//dev:設(shè)備I2C參數(shù)結(jié)構(gòu)體
void vl53l0x_general_test(VL53L0X_Dev_t *dev)
{
u8 key=0;
u8 i=0;
u8 mode=0;
LED1=1;
general_ui();//顯示普通測量模式UI
while(1)
{
key = KEY_Scan(0);
if(key==WKUP_PRES) break;//返回主菜單
else if(key==KEY1_PRES)//選擇工作模式
{
mode++;
if(mode==4) mode=0;
switch(mode)
{
case Default_Mode: LCD_ShowString(95,140+95,300,16,16, "Default "); break;//默認(rèn)
case HIGH_ACCURACY: LCD_ShowString(95,140+95,300,16,16, "High Accuracy "); break;//高精度
case LONG_RANGE: LCD_ShowString(95,140+95,300,16,16, "Long Range "); break;//長距離
case HIGH_SPEED: LCD_ShowString(95,140+95,300,16,16, "High Speed "); break;//高速
}
}
else if(key==KEY0_PRES)//啟動(dòng)測量
{
vl53l0x_general_start(dev,mode);
general_ui();
mode=0;
}
i++;
if(i==5)
{
i=0;
LED0=!LED0;
}
delay_ms(50);
}
}

復(fù)制代碼

#include "vl53l0x_it.h"
//上下限距離值單位:mm
#define Thresh_Low 60
#define Thresh_High 150
//中斷模式參數(shù)結(jié)構(gòu)體
typedef struct
{
const int VL53L0X_Mode;//模式
uint32_t ThreshLow; //下限值
uint32_t ThreshHigh; //上限值
}AlrmMode_t;
AlrmMode_t AlarmModes ={
VL53L0X_GPIOFUNCTIONALITY_THRESHOLD_CROSSED_OUT,// value < thresh_low OR value > thresh_high
Thresh_Low<<16,
Thresh_High<<16
};
//中斷配置初始化
static void exti_init(void)
{
GPIO_InitTypeDef GPIO_InitStructure;
EXTI_InitTypeDef EXTI_InitStructure;
NVIC_InitTypeDef NVIC_InitStructure;
RCC_APB2PeriphClockCmd(RCC_APB2Periph_GPIOA,ENABLE);//使能PORTA時(shí)鐘
RCC_APB2PeriphClockCmd(RCC_APB2Periph_AFIO,ENABLE); //使能復(fù)用功能時(shí)鐘
GPIO_InitStructure.GPIO_Pin = GPIO_Pin_4;
GPIO_InitStructure.GPIO_Mode = GPIO_Mode_IPU; //設(shè)置成上拉輸入
GPIO_Init(GPIOA, &GPIO_InitStructure);
GPIO_EXTILineConfig(GPIO_PortSourceGPIOA,GPIO_PinSource4);
EXTI_InitStructure.EXTI_Line = EXTI_Line4;
EXTI_InitStructure.EXTI_Mode = EXTI_Mode_Interrupt;
EXTI_InitStructure.EXTI_Trigger = EXTI_Trigger_Falling;//下降沿觸發(fā)
EXTI_InitStructure.EXTI_LineCmd = ENABLE;
EXTI_Init(&EXTI_InitStructure); //根據(jù)EXTI_InitStruct中指定的參數(shù)初始化外設(shè)EXTI寄存器
NVIC_InitStructure.NVIC_IRQChannel = EXTI4_IRQn; //使能按鍵WK_UP所在的外部中斷通道
NVIC_InitStructure.NVIC_IRQChannelPreemptionPriority = 0x02; //搶占優(yōu)先級2，
NVIC_InitStructure.NVIC_IRQChannelSubPriority = 0x03; //子優(yōu)先級3
NVIC_InitStructure.NVIC_IRQChannelCmd = ENABLE; //使能外部中斷通道
NVIC_Init(&NVIC_InitStructure);
}
//警報(bào)標(biāo)志位 alarm_flag
//1:有警報(bào)
//0：無
u8 alarm_flag=0;
//外部中斷服務(wù)函數(shù)
void EXTI4_IRQHandler(void)
{
alarm_flag=1;//標(biāo)志
EXTI_ClearITPendingBit(EXTI_Line4); //清除LINE4上的中斷標(biāo)志位
}
extern uint8_t AjustOK;
extern mode_data Mode_data[];
//vl53l0x中斷測量模式測試
//dev:設(shè)備I2C參數(shù)結(jié)構(gòu)體
//mode: 0:默認(rèn);1:高精度;2:長距離;3:高速
void vl53l0x_interrupt_start(VL53L0X_Dev_t *dev,uint8_t mode)
{
uint8_t VhvSettings;
uint8_t PhaseCal;
uint32_t refSpadCount;
uint8_t isApertureSpads;
VL53L0X_RangingMeasurementData_t RangingMeasurementData;
static char buf[VL53L0X_MAX_STRING_LENGTH];//測試模式字符串字符緩沖區(qū)
VL53L0X_Error status=VL53L0X_ERROR_NONE;//工作狀態(tài)
u8 key;
exti_init();//中斷初始化
LED0=1;
mode_string(mode,buf);//顯示當(dāng)前配置的模式
LCD_Fill(30,170,300,300,WHITE);
POINT_COLOR=RED; //設(shè)置字體為紅色
LCD_ShowString(30,140+30,300,16,16,"Interrupt Mode ");
POINT_COLOR=BLUE; //設(shè)置字體為藍(lán)色
LCD_ShowString(30,140+50,200,16,16,"KEY_UP: Exit the test ");
LCD_ShowString(30,140+70,200,16,16,"Mode: ");
LCD_ShowString(80,140+70,200,16,16,(u8*)buf);
sprintf((char*)buf,"Thresh Low: %d mm ",Thresh_Low);
LCD_ShowString(30,140+90,300,16,16,(u8*)buf);
sprintf((char*)buf,"Thresh High: %d mm",Thresh_High);
LCD_ShowString(30,140+110,300,16,16,(u8*)buf);
LCD_ShowString(30,140+130,300,16,16,"Now value: mm");
vl53l0x_reset(dev);//復(fù)位vl53l0x(頻繁切換工作模式容易導(dǎo)致采集距離數(shù)據(jù)不準(zhǔn)，需加上這一代碼)
status = VL53L0X_StaticInit(dev);
if(status!=VL53L0X_ERROR_NONE) goto error;
if(AjustOK!=0)//已校準(zhǔn)好了,寫入校準(zhǔn)值
{
status= VL53L0X_SetReferenceSpads(dev,Vl53l0x_data.refSpadCount,Vl53l0x_data.isApertureSpads);//設(shè)定Spads校準(zhǔn)值
if(status!=VL53L0X_ERROR_NONE) goto error;
delay_ms(2);
status= VL53L0X_SetRefCalibration(dev,Vl53l0x_data.VhvSettings,Vl53l0x_data.PhaseCal);//設(shè)定Ref校準(zhǔn)值
if(status!=VL53L0X_ERROR_NONE) goto error;
delay_ms(2);
status=VL53L0X_SetOffsetCalibrationDataMicroMeter(dev,Vl53l0x_data.OffsetMicroMeter);//設(shè)定偏移校準(zhǔn)值
if(status!=VL53L0X_ERROR_NONE) goto error;
delay_ms(2);
status=VL53L0X_SetXTalkCompensationRateMegaCps(dev,Vl53l0x_data.XTalkCompensationRateMegaCps);//設(shè)定串?dāng)_校準(zhǔn)值
if(status!=VL53L0X_ERROR_NONE) goto error;
}else
{
status = VL53L0X_PerformRefCalibration(dev, &VhvSettings, &PhaseCal);//Ref參考校準(zhǔn)
if(status!=VL53L0X_ERROR_NONE) goto error;
delay_ms(2);
status = VL53L0X_PerformRefSpadManagement(dev, &refSpadCount, &isApertureSpads);//執(zhí)行參考SPAD管理
if(status!=VL53L0X_ERROR_NONE) goto error;
delay_ms(2);
}
status = VL53L0X_SetDeviceMode(dev,VL53L0X_DEVICEMODE_CONTINUOUS_RANGING);//使能連續(xù)測量模式
if(status!=VL53L0X_ERROR_NONE) goto error;
delay_ms(2);
status = VL53L0X_SetInterMeasurementPeriodMilliSeconds(dev,Mode_data[mode].timingBudget);//設(shè)置內(nèi)部周期測量時(shí)間
if(status!=VL53L0X_ERROR_NONE) goto error;
delay_ms(2);
status = VL53L0X_SetLimitCheckEnable(dev,VL53L0X_CHECKENABLE_SIGMA_FINAL_RANGE,1);//使能SIGMA范圍檢查
if(status!=VL53L0X_ERROR_NONE) goto error;
delay_ms(2);
status = VL53L0X_SetLimitCheckEnable(dev,VL53L0X_CHECKENABLE_SIGNAL_RATE_FINAL_RANGE,1);//使能信號速率范圍檢查
if(status!=VL53L0X_ERROR_NONE) goto error;
delay_ms(2);
status = VL53L0X_SetLimitCheckValue(dev,VL53L0X_CHECKENABLE_SIGMA_FINAL_RANGE,Mode_data[mode].sigmaLimit);//設(shè)定SIGMA范圍
if(status!=VL53L0X_ERROR_NONE) goto error;
delay_ms(2);
status = VL53L0X_SetLimitCheckValue(dev,VL53L0X_CHECKENABLE_SIGNAL_RATE_FINAL_RANGE,Mode_data[mode].signalLimit);//設(shè)定信號速率范圍范圍
if(status!=VL53L0X_ERROR_NONE) goto error;
delay_ms(2);
status = VL53L0X_SetMeasurementTimingBudgetMicroSeconds(dev,Mode_data[mode].timingBudget);//設(shè)定完整測距最長時(shí)間
if(status!=VL53L0X_ERROR_NONE) goto error;
delay_ms(2);
status = VL53L0X_SetVcselPulsePeriod(dev, VL53L0X_VCSEL_PERIOD_PRE_RANGE, Mode_data[mode].preRangeVcselPeriod);//設(shè)定VCSEL脈沖周期
if(status!=VL53L0X_ERROR_NONE) goto error;
delay_ms(2);
status = VL53L0X_SetVcselPulsePeriod(dev, VL53L0X_VCSEL_PERIOD_FINAL_RANGE, Mode_data[mode].finalRangeVcselPeriod);//設(shè)定VCSEL脈沖周期范圍
if(status!=VL53L0X_ERROR_NONE) goto error;
delay_ms(2);
status = VL53L0X_StopMeasurement(dev);//停止測量
if(status!=VL53L0X_ERROR_NONE) goto error;
delay_ms(2);
status = VL53L0X_SetInterruptThresholds(dev,VL53L0X_DEVICEMODE_CONTINUOUS_RANGING,AlarmModes.ThreshLow, AlarmModes.ThreshHigh);//設(shè)定觸發(fā)中斷上、下限值
if(status!=VL53L0X_ERROR_NONE) goto error;
delay_ms(2);
status = VL53L0X_SetGpioConfig(dev,0,VL53L0X_DEVICEMODE_CONTINUOUS_RANGING,AlarmModes.VL53L0X_Mode,VL53L0X_INTERRUPTPOLARITY_LOW);//設(shè)定觸發(fā)中斷模式下降沿
if(status!=VL53L0X_ERROR_NONE) goto error;
delay_ms(2);
status = VL53L0X_ClearInterruptMask(dev,0);//清除VL53L0X中斷標(biāo)志位
error://錯(cuò)誤信息
if(status!=VL53L0X_ERROR_NONE)
{
print_pal_error(status);
return ;
}
alarm_flag = 0;
VL53L0X_StartMeasurement(dev);//啟動(dòng)測量
while(1)
{
key = KEY_Scan(0);
if(key==WKUP_PRES)
{
VL53L0X_ClearInterruptMask(dev,0);//清除VL53L0X中斷標(biāo)志位
status = VL53L0X_StopMeasurement(dev); //停止測量
LED1=1;
break;//返回上一菜單
}
if(alarm_flag==1)//觸發(fā)中斷
{
alarm_flag=0;
VL53L0X_GetRangingMeasurementData(dev,&RangingMeasurementData);//獲取測量距離,并且顯示距離
printf("d: %3d mm\r\n",RangingMeasurementData.RangeMilliMeter);
LCD_ShowxNum(110,140+130,RangingMeasurementData.RangeMilliMeter,4,16,0);
delay_ms(70);
VL53L0X_ClearInterruptMask(dev,0);//清除VL53L0X中斷標(biāo)志位
}
delay_ms(30);
LED1=!LED1;
}
}
//vl53l0x中斷測量模式UI
void interrupt_ui(void)
{
LCD_Fill(30,140+20,300,300,WHITE);
POINT_COLOR=RED; //設(shè)置字體為紅色
LCD_ShowString(30,140+30,300,16,16,"Interrupt Mode ");
LCD_ShowString(30,140+55,300,16,16,"KEY1: Switch working mode ");
POINT_COLOR=BLUE; //設(shè)置字體為藍(lán)色
LCD_ShowString(30,140+75,300,16,16, "KEY_UP: Return menu ");
LCD_ShowString(30,140+95,300,16,16, "KEY0: Default ");
}
//vl53l0x中斷測量模式測試
//dev:設(shè)備I2C參數(shù)結(jié)構(gòu)體
void vl53l0x_interrupt_test(VL53L0X_Dev_t *dev)
{
u8 key=0;
u8 i=0;
u8 mode=0;
LED1=1;
interrupt_ui();//顯示中斷測量模式UI
while(1)
{
key = KEY_Scan(0);
if(key==WKUP_PRES) break;//返回主菜單
else if(key==KEY1_PRES)//選擇工作模式
{
mode++;
if(mode==4) mode=0;
switch(mode)
{
case Default_Mode: LCD_ShowString(95,140+95,300,16,16, "Default "); break;//默認(rèn)
case HIGH_ACCURACY: LCD_ShowString(95,140+95,300,16,16, "High Accuracy "); break;//高精度
case LONG_RANGE: LCD_ShowString(95,140+95,300,16,16, "Long Range "); break;//長距離
case HIGH_SPEED: LCD_ShowString(95,140+95,300,16,16, "High Speed "); break;//高速
}
}
else if(key==KEY0_PRES)//啟動(dòng)測量
{
vl53l0x_interrupt_start(dev,mode);
interrupt_ui();
mode=0;
}
i++;
if(i==5)
{
i=0;
LED0=!LED0;
}
delay_ms(50);
}
}

復(fù)制代碼

#include "vl53l0x.h"
VL53L0X_Dev_t vl53l0x_dev;//設(shè)備I2C數(shù)據(jù)參數(shù)
VL53L0X_DeviceInfo_t vl53l0x_dev_info;//設(shè)備ID版本信息
uint8_t AjustOK=0;//校準(zhǔn)標(biāo)志位
//VL53L0X各精度模式參數(shù)
//0：默認(rèn);1:高精度;2:長距離;3:高速
mode_data Mode_data[]=
{
{(FixPoint1616_t)(0.25*65536),
(FixPoint1616_t)(18*65536),
33000,
14,
10},//默認(rèn)
{(FixPoint1616_t)(0.25*65536) ,
(FixPoint1616_t)(18*65536),
200000,
14,
10},//高精度
{(FixPoint1616_t)(0.1*65536) ,
(FixPoint1616_t)(60*65536),
33000,
18,
14},//長距離
{(FixPoint1616_t)(0.25*65536) ,
(FixPoint1616_t)(32*65536),
20000,
14,
10},//高速
};
//API錯(cuò)誤信息打印
//Status：詳情看VL53L0X_Error參數(shù)的定義
void print_pal_error(VL53L0X_Error Status)
{
char buf[VL53L0X_MAX_STRING_LENGTH];
VL53L0X_GetPalErrorString(Status,buf);//根據(jù)Status狀態(tài)獲取錯(cuò)誤信息字符串
printf("API Status: %i : %s\r\n",Status, buf);//打印狀態(tài)和錯(cuò)誤信息
}
//模式字符串顯示
//mode:0-默認(rèn);1-高精度;2-長距離;3-高速
void mode_string(u8 mode,char *buf)
{
switch(mode)
{
case Default_Mode: strcpy(buf,"Default"); break;
case HIGH_ACCURACY: strcpy(buf,"High Accuracy"); break;
case LONG_RANGE: strcpy(buf,"Long Range"); break;
case HIGH_SPEED: strcpy(buf,"High Speed"); break;
}
}
//配置VL53L0X設(shè)備I2C地址
//dev:設(shè)備I2C參數(shù)結(jié)構(gòu)體
//newaddr:設(shè)備新I2C地址
VL53L0X_Error vl53l0x_Addr_set(VL53L0X_Dev_t *dev,uint8_t newaddr)
{
uint16_t Id;
uint8_t FinalAddress;
VL53L0X_Error Status = VL53L0X_ERROR_NONE;
u8 sta=0x00;
FinalAddress = newaddr;
if(FinalAddress==dev->I2cDevAddr)//新設(shè)備I2C地址與舊地址一致,直接退出
return VL53L0X_ERROR_NONE;
//在進(jìn)行第一個(gè)寄存器訪問之前設(shè)置I2C標(biāo)準(zhǔn)模式(400Khz)
Status = VL53L0X_WrByte(dev,0x88,0x00);
if(Status!=VL53L0X_ERROR_NONE)
{
sta=0x01;//設(shè)置I2C標(biāo)準(zhǔn)模式出錯(cuò)
goto set_error;
}
//嘗試使用默認(rèn)的0x52地址讀取一個(gè)寄存器
Status = VL53L0X_RdWord(dev, VL53L0X_REG_IDENTIFICATION_MODEL_ID, &Id);
if(Status!=VL53L0X_ERROR_NONE)
{
sta=0x02;//讀取寄存器出錯(cuò)
goto set_error;
}
if(Id == 0xEEAA)
{
//設(shè)置設(shè)備新的I2C地址
Status = VL53L0X_SetDeviceAddress(dev,FinalAddress);
if(Status!=VL53L0X_ERROR_NONE)
{
sta=0x03;//設(shè)置I2C地址出錯(cuò)
goto set_error;
}
//修改參數(shù)結(jié)構(gòu)體的I2C地址
dev->I2cDevAddr = FinalAddress;
//檢查新的I2C地址讀寫是否正常
Status = VL53L0X_RdWord(dev, VL53L0X_REG_IDENTIFICATION_MODEL_ID, &Id);
if(Status!=VL53L0X_ERROR_NONE)
{
sta=0x04;//新I2C地址讀寫出錯(cuò)
goto set_error;
}
}
set_error:
if(Status!=VL53L0X_ERROR_NONE)
{
print_pal_error(Status);//打印錯(cuò)誤信息
}
if(sta!=0)
printf("sta:0x%x\r\n",sta);
return Status;
}
//vl53l0x復(fù)位函數(shù)
//dev:設(shè)備I2C參數(shù)結(jié)構(gòu)體
void vl53l0x_reset(VL53L0X_Dev_t *dev)
{
uint8_t addr;
addr = dev->I2cDevAddr;//保存設(shè)備原I2C地址
VL53L0X_Xshut=0;//失能VL53L0X
delay_ms(30);
VL53L0X_Xshut=1;//使能VL53L0X,讓傳感器處于工作(I2C地址會(huì)恢復(fù)默認(rèn)0X52)
delay_ms(30);
dev->I2cDevAddr=0x52;
vl53l0x_Addr_set(dev,addr);//設(shè)置VL53L0X傳感器原來上電前原I2C地址
VL53L0X_DataInit(dev);
}
//初始化vl53l0x
//dev:設(shè)備I2C參數(shù)結(jié)構(gòu)體
VL53L0X_Error vl53l0x_init(VL53L0X_Dev_t *dev)
{
GPIO_InitTypeDef GPIO_InitStructure;
VL53L0X_Error Status = VL53L0X_ERROR_NONE;
VL53L0X_Dev_t *pMyDevice = dev;
RCC_APB2PeriphClockCmd(RCC_APB2Periph_AFIO,ENABLE); //使能AFIO時(shí)鐘
RCC_APB2PeriphClockCmd(RCC_APB2Periph_GPIOA,ENABLE); //先使能外設(shè)IO PORTA時(shí)鐘
GPIO_InitStructure.GPIO_Pin = GPIO_Pin_15; //端口配置
GPIO_InitStructure.GPIO_Mode = GPIO_Mode_Out_PP; //推挽輸出
GPIO_InitStructure.GPIO_Speed = GPIO_Speed_50MHz; //IO口速度為50MHz
GPIO_Init(GPIOA, &GPIO_InitStructure); //根據(jù)設(shè)定參數(shù)初始化GPIOA
GPIO_PinRemapConfig(GPIO_Remap_SWJ_JTAGDisable,ENABLE);//禁止JTAG,從而PA15可以做普通IO使用,否則PA15不能做普通IO!!!
pMyDevice->I2cDevAddr = VL53L0X_Addr;//I2C地址(上電默認(rèn)0x52)
pMyDevice->comms_type = 1; //I2C通信模式
pMyDevice->comms_speed_khz = 400; //I2C通信速率
VL53L0X_i2c_init();//初始化IIC總線
VL53L0X_Xshut=0;//失能VL53L0X
delay_ms(30);
VL53L0X_Xshut=1;//使能VL53L0X,讓傳感器處于工作
delay_ms(30);
vl53l0x_Addr_set(pMyDevice,0x54);//設(shè)置VL53L0X傳感器I2C地址
if(Status!=VL53L0X_ERROR_NONE) goto error;
Status = VL53L0X_DataInit(pMyDevice);//設(shè)備初始化
if(Status!=VL53L0X_ERROR_NONE) goto error;
delay_ms(2);
Status = VL53L0X_GetDeviceInfo(pMyDevice,&vl53l0x_dev_info);//獲取設(shè)備ID信息
if(Status!=VL53L0X_ERROR_NONE) goto error;
AT24CXX_Read(0,(u8*)&Vl53l0x_data,sizeof(_vl53l0x_adjust));//讀取24c02保存的校準(zhǔn)數(shù)據(jù),若已校準(zhǔn) Vl53l0x_data.adjustok==0xAA
if(Vl53l0x_data.adjustok==0xAA)//已校準(zhǔn)
AjustOK=1;
else //沒校準(zhǔn)
AjustOK=0;
error:
if(Status!=VL53L0X_ERROR_NONE)
{
print_pal_error(Status);//打印錯(cuò)誤信息
return Status;
}
return Status;
}
//主菜單界面
void vl53l0x_mtest_ui(void)
{
POINT_COLOR=BLUE;//設(shè)置字體為藍(lán)色
LCD_Fill(30,170,300,300,WHITE);
LCD_ShowString(30,170,200,16,16,"KEY_UP: Calibration mode");//校準(zhǔn)模式
LCD_ShowString(30,190,200,16,16,"KEY1: General mode"); //普通測量模式
LCD_ShowString(30,210,200,16,16,"KEY0: Interrupt mode"); //中斷測量模式
}
//VL53L0X主測試程序
void vl53l0x_test(void)
{
u8 i=0;
u8 key=0;
while(vl53l0x_init(&vl53l0x_dev))//vl53l0x初始化
{
LCD_ShowString(30,140,200,16,16,"VL53L0X Error!!!");
delay_ms(500);
LCD_ShowString(30,140,200,16,16," ");
delay_ms(500);
LED0=!LED0;//DS0閃爍
}
printf("VL53L0X OK\r\n");
LCD_ShowString(30,140,200,16,16,"VL53L0X OK");
vl53l0x_mtest_ui();//主菜單顯示
while(1)
{
key = KEY_Scan(0);
if(key)
{
switch(key)
{
case WKUP_PRES: vl53l0x_calibration_test(&vl53l0x_dev); break;//校準(zhǔn)模式
case KEY1_PRES: vl53l0x_general_test(&vl53l0x_dev); break;//普通測量模式
case KEY0_PRES: vl53l0x_interrupt_test(&vl53l0x_dev); break;//中斷測量模式
}
vl53l0x_mtest_ui();
}
i++;
if(i==5)
{
i=0;
LED0=!LED0;
}
delay_ms(50);
}
}
//----------以下函數(shù)為USMART調(diào)用------------//
//獲取vl53l0x傳感器ID信息
void vl53l0x_info(void)
{
printf("\r\n-------vl53l0x傳感器設(shè)備信息-------\r\n\r\n");
printf(" Name:%s\r\n",vl53l0x_dev_info.Name);
printf(" Addr:0x%x\r\n",vl53l0x_dev.I2cDevAddr);
printf(" ProductId:%s\r\n",vl53l0x_dev_info.ProductId);
printf(" RevisionMajor:0x%x\r\n",vl53l0x_dev_info.ProductRevisionMajor);
printf(" RevisionMinor:0x%x\r\n",vl53l0x_dev_info.ProductRevisionMinor);
printf("\r\n-----------------------------------\r\n");
}
//獲取一次測量距離數(shù)據(jù)
//mode模式配置 0:默認(rèn);1:高精度;2:長距離;3:高速
void One_measurement(u8 mode)
{
vl53l0x_set_mode(&vl53l0x_dev,mode);
VL53L0X_PerformSingleRangingMeasurement(&vl53l0x_dev,&vl53l0x_data);
printf("\r\n d: %4d mm.\r\n",vl53l0x_data.RangeMilliMeter);
}

復(fù)制代碼

全部資料51hei下載地址：

（標(biāo)準(zhǔn)庫版本，適合戰(zhàn)艦V3 STM32開發(fā)板）擴(kuò)展實(shí)驗(yàn)21 ATK-VL53L0X模塊實(shí)驗(yàn).rar (497.84 KB, 下載次數(shù): 355)

ID:282266 · 發(fā)表于 2019-1-30 21:51

贊啊方便了。多謝樓主

ID:393991 · 發(fā)表于 2019-3-27 14:56

贊啊多謝樓主

ID:67537 · 發(fā)表于 2019-4-28 17:39

這個(gè)測試距離是多少

ID:288090 · 發(fā)表于 2019-5-11 23:02

多謝樓主

ID:506805 · 發(fā)表于 2019-6-5 10:24

學(xué)習(xí)了。thx

ID:248814 · 發(fā)表于 2019-6-6 08:34

yyhhgg 發(fā)表于 2019-4-28 17:39
這個(gè)測試距離是多少

2.5m內(nèi)吧

ID:568187 · 發(fā)表于 2019-6-20 18:15

多謝樓主

ID:561383 · 發(fā)表于 2019-6-25 11:01

你好，有沒有硬件部分的電路圖看看呢

ID:585332 · 發(fā)表于 2019-7-16 19:30

謝謝，下載來學(xué)習(xí)。

ID:585332 · 發(fā)表于 2019-7-16 19:30

可是這里沒有說硬件上怎么接線

ID:298802 · 發(fā)表于 2019-8-7 16:41

感謝樓主

ID:511461 · 發(fā)表于 2019-8-8 10:59

適合戰(zhàn)艦的？

ID:216959 · 發(fā)表于 2019-8-21 09:49

贊啊多謝樓主

ID:602256 · 發(fā)表于 2019-8-21 10:35

飛秒測試預(yù)制三種發(fā)射增益對應(yīng)三種距離范圍這個(gè)例程真標(biāo)準(zhǔn) 多謝樓主

ID:334968 · 發(fā)表于 2019-9-2 13:39

很不錯(cuò)的資料！值得學(xué)習(xí)！

ID:216667 · 發(fā)表于 2019-9-8 11:03

謝謝！給你個(gè)大大

ID:593927 · 發(fā)表于 2020-2-14 13:41

成功下載，感謝樓主。

ID:16031 · 發(fā)表于 2020-2-14 18:18

下載這個(gè)工程，學(xué)習(xí)一下

ID:68875 · 發(fā)表于 2020-2-14 22:04

多謝樓主

ID:538733 · 發(fā)表于 2020-3-24 11:46

很好的資料。值得學(xué)習(xí)。

ID:538733 · 發(fā)表于 2020-3-24 11:47

有空可以研究一下。太好了

ID:747116 · 發(fā)表于 2020-5-8 18:21

mark,有空研究下，多謝分享。

ID:367242 · 發(fā)表于 2020-6-3 08:03

謝謝分享

ID:868171 · 發(fā)表于 2021-3-30 14:47

現(xiàn)在ST的缺貨，可以試一下國產(chǎn)VI5300，完美兼容替換XL53L0X、XL53L1X、VL53L3X系列，需要可百度，VL53L0X兼容

ID:910441 · 發(fā)表于 2021-4-22 18:07

yyhhgg 發(fā)表于 2019-4-28 17:39
這個(gè)測試距離是多少

1.2米或2米，來自https://blog.csdn.net/qlexcel/article/details/106154743

ID:896590 · 發(fā)表于 2023-11-16 22:24

收藏了，感謝

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vl53l0x激光測距stm32庫函數(shù)程序源碼

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